// --------------------------------------------------------------------------------------------------------------------
// <copyright file="ArmJointControlMessage.cs" company="Microsoft Corporation">
// The MIT License (MIT)
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// Copyright (c) 2014, Microsoft Corporation
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namespace Microsoft.Robotics.Manipulation.Runtime
{
    using System;
    using System.Runtime.Serialization;
    using Microsoft.Robotics.Runtime;

    /// <summary>
    /// The ArmJointControlMessage facilitates cartesian control of the arm joints
    /// </summary>
    [DataContract]
    public class JointGoalPositionControlMessage : AgentMessage
    {
        /// <summary>
        /// Initializes a new instance of the <see cref="JointGoalPositionControlMessage" /> class
        /// This message is used to control the arm joint configuration
        /// </summary>
        /// <param name="originatingTime">Message creation time</param>
        /// <param name="armJointPositions">Joint positions</param>
        /// <param name="maximumTolerance">Maxim tolerance on move</param>
        public JointGoalPositionControlMessage(
            long originatingTime,
            double[] armJointPositions,
            double maximumTolerance)
            : base(originatingTime)
        {
            this.ArmJointPositions = armJointPositions;
            this.MaximimumTolerance = maximumTolerance;
        }

        /// <summary>
        /// Gets the position of the arm joints. 
        /// Dimension is equal to the number of arm joints
        /// Order of the joints is from proximal to distal
        /// </summary>
        [DataMember]
        public double[] ArmJointPositions { get; private set; }

        /// <summary>
        /// Gets the maximum tolerance on the move along all dimensions
        /// </summary>
        [DataMember]
        public double MaximimumTolerance { get; private set; }
    }
}
